The installation of a camera on the unmanned air vehicle enables it to perform various applications. In this paper, tracking control with a camera mounted quadcopter is studied. The main idea is controlling the relative distance between the quadcopter and the track. The relative distance between the quadcopter and the track is estimated by the lane detection algorithm. In order to achieve short enough sampling time, simple lane detection method is presented. Performance of closed loop system is analyzed and designed using Bode plot method. From the test result, the run time of the lane detection algorithm is shown to be short enough for tracking control, and the control error is shown to be bounded if the gradient of input is bounded.
Image-based lane tracking in quadcopter
01.06.2016
3433907 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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